Anon Anon / Mbed 2 deprecated Nucleo_pwm_example

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Dependencies:   QEI mbed

main_old.cpp@1:18f0113ac5a2, 2017-11-20 (annotated)

Committer:
Showboo
Date:
Mon Nov 20 01:16:14 2017 +0000
Revision:
1:18f0113ac5a2
New Code updated for Assignment 4. Values for LED IR created and found. Debugging needed for left wheel which currently isn't spinning.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Showboo 1:18f0113ac5a2 1 /*
Showboo 1:18f0113ac5a2 2 #include "mbed.h"
Showboo 1:18f0113ac5a2 3 #include "QEI.h"
Showboo 1:18f0113ac5a2 4 #include "header.h"
Showboo 1:18f0113ac5a2 5 int main_old() {
Showboo 1:18f0113ac5a2 6 pid lman, rman;
Showboo 1:18f0113ac5a2 7 lman.kp = .004f;
Showboo 1:18f0113ac5a2 8 lman.ki = .0f;
Showboo 1:18f0113ac5a2 9 lman.kd = .0f;
Showboo 1:18f0113ac5a2 10 rman.kp = .5f;
Showboo 1:18f0113ac5a2 11 rman.ki = .1f;
Showboo 1:18f0113ac5a2 12 rman.kd = .4f;
Showboo 1:18f0113ac5a2 13
Showboo 1:18f0113ac5a2 14 lpwmf.period(0.01f);
Showboo 1:18f0113ac5a2 15 lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea)
Showboo 1:18f0113ac5a2 16 rpwmf.period(0.01f);
Showboo 1:18f0113ac5a2 17 rpwmf = 0;
Showboo 1:18f0113ac5a2 18
Showboo 1:18f0113ac5a2 19
Showboo 1:18f0113ac5a2 20 t_time.start();
Showboo 1:18f0113ac5a2 21
Showboo 1:18f0113ac5a2 22 pid ir_lman, ir_rman;
Showboo 1:18f0113ac5a2 23 ir_lman.kp = .004f;
Showboo 1:18f0113ac5a2 24 ir_lman.ki = .0f;
Showboo 1:18f0113ac5a2 25 ir_lman.kd = .0f;
Showboo 1:18f0113ac5a2 26 ir_rman.kp = .5f;
Showboo 1:18f0113ac5a2 27 ir_rman.ki = .1f;
Showboo 1:18f0113ac5a2 28 ir_rman.kd = .4f;
Showboo 1:18f0113ac5a2 29 while(1){
Showboo 1:18f0113ac5a2 30 float dt = t_time.read();
Showboo 1:18f0113ac5a2 31 t_time.reset();
Showboo 1:18f0113ac5a2 32 float error = (LeftEncoder.getPulses() - RightEncoder.getPulses())/16.0f; //Can be pos or neg, Range from 0 - 255 for one revolution
Showboo 1:18f0113ac5a2 33 if(error == 0){
Showboo 1:18f0113ac5a2 34 resetpid(&lman);
Showboo 1:18f0113ac5a2 35 resetpid(&rman);
Showboo 1:18f0113ac5a2 36 }
Showboo 1:18f0113ac5a2 37 float adjust_l = getFix(&lman, error, dt);
Showboo 1:18f0113ac5a2 38 LeftIR = 1;
Showboo 1:18f0113ac5a2 39 RightIR = 1;
Showboo 1:18f0113ac5a2 40 float leftread = LeftReceiver.read();
Showboo 1:18f0113ac5a2 41 float rightread = RightReceiver.read();
Showboo 1:18f0113ac5a2 42 float error_IR = (rightread - leftread);
Showboo 1:18f0113ac5a2 43 if(error_IR < 0.02f){
Showboo 1:18f0113ac5a2 44 resetpid(&ir_lman);
Showboo 1:18f0113ac5a2 45 resetpid(&ir_rman);
Showboo 1:18f0113ac5a2 46 }
Showboo 1:18f0113ac5a2 47 //float adjust_l = getFix(&ir_lman, error, dt);
Showboo 1:18f0113ac5a2 48 lpwmf = constrain(0.0f, 0.3f, lbase + adjust_l);
Showboo 1:18f0113ac5a2 49 rpwmf = rbase+.2f;
Showboo 1:18f0113ac5a2 50 }
Showboo 1:18f0113ac5a2 51 }
Showboo 1:18f0113ac5a2 52 */